Method and apparatus for lifting a load with a crane cable or the like

ABSTRACT

Suspending the load from a body which in turn is suspended from the crane cable, and relatively shifting the positions of the suspension point on the cable and the center of gravity of the combined body and load until in vertical alignment with the body and load disposed in a predetermined position which is usually horizontal. The relative shifting of the suspension point of the body from the cable and the center of gravity of the combined body and load may be effected either by shifting the cable suspension point or by shifting the load along the body. In addition it may be accomplished by counterweights movable along the body. In certain embodiments, a control arm is movably mounted on the body to sense the eccentricity of the load suspended from the body when the body and its load are lifted by the crane cable. Upon sensing the eccentricity, the control arm is employed to actuate a device such as a fluid motor to bring the cable suspension point and the combined center of gravity of the body and load into vertical alignment with each other. In another embodiment, the eccentricity of the load suspended from the body is sensed by a liquid level device mounted on the body to control a motive device employed in producing the alignment. In order to restore the body in a balanced position relative to the cable after the load is released from the body, an energy accumulator is provided to be charged with energy by virtue of vertical displacement of the cable suspension point which occurs either before or during the alignment operation. After the load is released the charged energy which in one embodiment is in the form of an energized spring, is employed to move the body about the cable suspension point until the body is restored to horizontal position.

United States Patent [72] Inventor Wilhelmus Antonius Maria PompeTolhuislaan 4, Den Dolder, Netherlands [21] Appl. No. 774,034 [22] FiledNov. 7, 1968 [45] Patented Mar. 30, I971 Continuation-in-part ofapplication Ser. No.

581,832, Sept. 26, 1966, now abandoned.

[54] METHOD AND APPARATUS FOR LIFTING A LOAD WITH A CRANE CABLE OR THELIKE 47 Claims, 14 Drawing Figs.

52 U.S.Cl 294/81,

294/67 51 Int.Cl B66c1/00 so FieldoiSearch 294/67,

674, 86, 81, 86 (SC), 78, 78 (A); 212/41, 42.5, 9, 58, 59, 144;2l4/(Inquired) Primary Examirler-Harvey C. Homsby Attorney-Beve 'dge &DeGrandi ABSTRACT: Suspending the load from a body which in turn is Lload along the body. In addition it may be accomplished bycounterweights movable along the body. In certain embodiments, a controlarm is movably mounted on the body to sense the eccentricity of the loadsuspended from the body when the body and its load are lifted by thecrane cable. Upon sensing the eccentricity, the control arm is employedto actuate a device such as a fluid motor to bring the cable suspensionpoint and the combined center of gravity of the body and load intovertical alignment with each other. In another embodiment, theeccentricity of the load suspended from the body is sensed by a liquidlevel device mounted on the body to control a motive device employed inproducing the alignment. In order to restore the body in a balancedposition relative to the cable after the load is released from the body,an energy accumulator is provided to be charged with energy by virtue ofvertical displacement of the cable suspension point which occurs eitherbefore or during the alignment operation. After the load is released thecharged energy which in one embodiment is in the form of an energizedspring,is employed to move the body about the cable suspension pointuntil the body is restored to horizontal position.

PATENTED man m sum 1 BF 6 INVENTOR WILHELMUS AM. POMPE TTORNEYS 2 5 1%mm a 2 El 5 -Fiallan N mm mfiq 5 PATENTEU W30 ism SHEET 2 [IF 6 PATENTEDHARSO I97! SHEET l 0F 6 METHOD AND APPARATUS FOR LIFIING A LOAD WITH ACRANE CABLE OR THE LIKE RELATED APPLICATIONS This application is acontinuation'in-part of copending U.S. application, Ser. No. 581,832filed Sept. 26, I966, now abandoned SUMMARY OF INVENTION The presentinvention relates to method and apparatus for lifting loads with a cranecable or the like. Although the present invention has particular utilitywith respect to lifting elongated loads while maintaining them inhorizontal position, the present invention has other applicability inconnection with the lifting and balancing of eccentric or other loadswith the use of a crane cable.

In lifting and balancing eccentric loads by conventional methods, thepoint of attachment of the load to the crane cable is shifted by trialand error until the load is balanced in the desired position whichusually is horizontal. This practice is not only troublesome and timeconsuming, but it also involves an added expense resulting from the factthat the crane must be kept for a unnecessarily prolonged time at thework site in order to complete the construction. In addition, thetrialand error method incertain cases is not sufiiciently accurate andresults in certain portions of the load being damaged during lifting andplacing by the crane. The net result with this conventional method is anincrease in the overall construction cost as well as undue prolongationof the completiontime of the construction.

It is therefore an object of the-present invention to overcome theabove-mentioned problems by the provision of a novel method andapparatus for lifting a load in a predetermined position with the use ofa crane cable or the like. Included herein is the provision of such amethod and apparatus for lifting an eccentric load while maintaining theload in a predetermined position.

A further object of the present invention is to provide method andapparatus for lifting elongated loads while maintaining the loads in ahorizontal plane even though'the load is not suspended from its centerofgravity.

A further object of the present invention is to provide novel apparatusfor use in lifting an eccentric load witha crane cable which apparatusmoves the load into a predetermined balanced position. Included hereinis the provision of such apparatus which will automatically align thecable suspension point over the center of gravity of the total load tobalance the load in a predetermined position.

A still further object of the present invention is to provide such amethod and apparatus which may be implemented on a commercial basis inconnection with various types of loads to be lifted.

The above objects are achieved in a method wherein an alignment deviceis connected to the crane cable with the load connected to the alignmentdevice. Assuming the total load.

(alignment device plus load to be lifted) is eccentrically positinnedwith respect to the crane cable, upon raising the crane cable andlifting the alignment device with the load suspended therefrom, thealignment device will rotate about the cable suspension point due to theeccentricity of the total load. This rotation of the alignment device isemployed to actuate a sensing control mechanism which in turn actuates amotor or drive element which vertically aligns the cable suspensionpoint and the center'of gravity of the total load while positioning thealignment device and the suspended load in predetermined position whichin most cases is horizontal. In certain embodiments the sensing controlmechanism may include an arm or pendulum pivotally mounted on thealignment device to move in response to rotation of the alignment deviceabout the cable suspension point to control the operation of the motorwhich produces the desired alignment.

Instead of employing a mechanical control member such as a thatdescribed above, a liquid level mechanism may be employed on thealignment device to be responsive to rotation of the alignment deviceabout the cable suspension point due to eccentric loading. This reactionof the liquid level mechanism is then employed to activate the motor ordrive element for bringing the cable suspension point and the center ofgravity of the combined alignment device and load into verticalalignment.

In the preferred embodiment the motor is of the fluid type including adrive piston which in one embodiment is connected to move the cablesuspension point into alignment over the center of gravity of the totalload. In another embodiment the motor is connected to move the loadalong the alignment device until the center of gravity is aligned belowthe cable suspension point. In another embodiment the center of gravityof the total load is shifted through the use of a counterweight which isadjusted along the alignment device by the motor until the center ofgravity is in vertical alignment with the cable suspension point.

The fluid motor is supplied and exhausted with motive fluid under thecontrol of a four-way slide valve. The latter valve is actuated by aslide which in turn is actuated through the sensing control mechanism.

In order to restore the alignment device to a horizontal position, afterthe load is released from the alignment device, there is provided anactuating mechanism that stores energy resulting from verticaldisplacement of the cable suspension point occurring either before orduring the alignment operation. In one embodiment this mechanism mayinclude spring means connected to the cable suspension point so as to beenergized upon vertical displacement of the cable suspension point. Uponrelease of the load, the energy of the spring means is used to restorethe alignment device in horizontal position.

Other objects and advantages of the present invention will becomeapparent from the following more detailed description taken inconjunction with the attached drawings in which:

FIG. 1 is a side elevational view, in schematic form, of apparatusembodying the invention and an associated control system;

FIG. la is a plan view of a frame employed in connecting a crane cableand hook to a main beam included in the apparatus of the presentinvention;

. FIG. lb is a schematic view of a control valve and related partsincluded in the control system;

FIG. 2 is a view similar to FIG. I but illustrating apparatusrepresenting a second embodiment of the invention;

FIGS. 2a and 2b are diagrams illustrating paths of movement of the cranecable suspension point in conjunction with the embodiment shown in FIG.2;

FIG. 3a is a view similar to FIG. I illustrating a third em bodiment ofthe invention;

FIG. 3b is a schematic view of a liquid level system employed in theembodiment of FIG. 3a;

FIG. 3c is a modified sensing mechanism that may be employed inconjunction with the embodiment of FIG. 3a;

FIG. 3d is a diagram illustrating paths of movement of a crane cablesuspension point in conjunction with the embodiment of FIG. 30;

FIG. 4 is a view similar to FIG. 1 but illustrating a fourth embodimentof the invention;

FIG. 5 is a view similar to FIG. I but illustrating a fifth embodimentof the invention which may be employed to lift a load in the form of alarge-container; and

FIG. 6 is a side elevational view in schematic form illustrating a sixthembodiment of the invention employed in lifting a load into a closedspace; and

FIG. 7 is a view similar to FIG. 6 but illustrating a seventh embodimentof the invention DETAILED DESCRIPTION FIG. I Embodiment Referring toFIG. 1 there is shown apparatus representing one embodiment of thepresent invention for use in lifting a load from a crane cabledesignated 20. The apparatus includes a main body 1 formed by elongatedbeams each having a generally U-shaped cross section and being fixed toeach other in mutually facing relationships. The load is suspended fromthe body by means of trolleys 2a and 2b having suspension eyes 4a and 4bto which the load is attached. Trolleys 2a and 2b are movable along mainbeam 1 by means of rollers 3 which roll along the flanges of mainbody 1. In this particular embodiment, the vertical distance between thepoint of attachment of the load to the trolleys at 4a, 4b and theattachment point 8 of the crane cable is relatively small. a factorywhich will be described subsequently in greater detail.

Trolleys 2a, 2b are connected by a cable 5 which runs over pulleys 6aand 6b mounted in the opposite ends of an elongated frame 7 which inturn is mounted on body 1 for longitudinal movement relative to the bodyfor a purpose to be described subsequently. Movement of cable aboutpulleys 6a, 612 will result in movement of trolleys 2a, 2b along body 1.However trolleys 2a, 2b are attached to opposite runs of the cable 5 (incurtain cord fashion) so that the trolleys are movable towards or awayfrom each other an equal distance depending on the direction of rotationof the pulleys 6a, 6b. This movement of trolleys 2a and 2b as providedby the pulley and cable arrangement, is employed for adjusting thetrolleys along the body during attachment of the load to the trolleysprior to the lifting operation.

In order to balance the load to be lifted in a predetermined position inaccordance with the invention, trolleys 2a and 2b are also made movableby means of the frame 7 which as described above is longitudinallymovable relative to the main beam or body 1. This movement of thetrolleys as caused by the frame, allows the trolleys 2a and 2b to bemoved in the same direction relative to the cable suspension point 8 toshift the center of gravity of the combined body including the main beamand other parts and the load suspended from the trolleys, When thecenter of gravity is shifted into vertical alignment with cablesuspension point 8, the overall load will be balanced with respect tothe crane cable. Additionally in the shown embodiment, main body 1 willalso extend in a horizontal position when the suspension point 8 and thecombined center of gravity are vertically aligned.

Movement of frame 7 along the body to move the trolleys 2a and 2b alongmain beam 1 to balance the load, is achieved by a motor shown ashydraulic cylinder 9 fixed to main beam 1 at 9e and having a piston 40operatively connected to frame 7 at 9d to reciprocate the same relativeto body 1. Hydraulic cylinder 9 is operated through means of a fluidmotor or pump 10 mounted on body 1 to supply motive fluid to either sideof cylinder 9 from a reservoir R. The cylinder of motor 10 is connectedby a spindle 11 to body 1, and the piston rod 42 of the motor 10 ispivotally connected at 12 to an arm 13 which in turn is pivotallymounted on a spindle 14 which extends transversely in body 1. Suspensionpoint 8 extends through the arm 13 and a crane cable book 15 is attachedto suspension point.

Beyond suspension point 8, arm 13 has an extension 130 which terminatesadjacent a cable pulley 16 mounted on the main body 1. A cable 17 isconnected to am extension 13a while extending about the pulley 16 afterwhich it is connected to a tension spring 18 anchored with respect tothe body 1. When body I does not have a load suspended therefrom, spring18 is in generally relaxed condition however it is preferable thatspring 18 be slightly tensioned when no load is on body 1. Arm extension130 abuts against a stop 19 fixed to the body 1 when there is no loadsuspended from the body. Arm 13 therefore does not move until a load isattached to trolleys 2a, 2b and lifted by crane cable 20.

Crane cable 20 is guided in a frame 2l by means of guide pulleys 22locatedin frame 21 on opposite sides of a vertical line passing throughsuspension point 8. Frame 21 is free to swing a slight amount in avertical plane relative to the alignment device and thereby move arm 23,which pivots about spindle 14 and in turn moves a control member. Thecontrol member is also pivotable about spindle l4 and includes anupwardly extending portion 240 and a horizontally extending portion 24b.Vertically extending arm portion Ma is pivotally connected at 46 to arm23 which in turn is pivotally connected to pulley frame 21 abovesuspension point 8. Arms I3. 23 and 24a and frame 21 together form aparallelogram linkage which expands and retracts in response to movementof body 1 about suspension point 8 upon lifting and releasing the loadas will be described. The parallelogram linkage is such that arm 24aremains generally vertical to body 1 if the frame 21 remains verticalthereto, even when spring [8 is extended by a load which is beinglifted. Movement of the parallelogram linkage is employed to activatepiston 42 of motor 10; piston 42 being connected to arm 13 of thelinkage.

Motive fluid is pumped from reservoir R by motor 10 along a supply line30 to be alternately connected with the opposite sides of cylinder 9 bymeans of a four-way slide control valve 27, 28. The latter valvealternately supplies and exhausts the opposite side of cylinder 9 byconnecting conduits 50, 52 with either supply line 30 or exhaust line 54which leads to a return pump or reservoir 56. Valve 27, 28 may also bemoved to a position in which both lines 50, 52 are either blocked orexhausted.

Actuation of valve 27, 28 to supply and exhaust cylinder 9 is achievedthrough control arm 24b acting through springs 26 and a slide rod 58with the latter being engageable with the opposite ends of the actuatingstem of valve 27, 28. Valve 27. 28 per se is a conventional andwell-known item and therefore need not be described in detail. Controlarm 24b is limited in its movement by stops 25 fixed to body 1 onopposite sides of arm 24b. Springs 26 are on opposite sides of arm 24band engage between the arm 24b and portions of slide 28. When no load issuspended from trolleys 2a, 2b. springs maintain arm 24b and slide 58 inneutral position with the arm 2412 being equidistant from stops 25. Inthis position of the slide 58 and arm 24b, valve 27, 28 is also inneutral position as illustrated in FIG. 1.

The slide valve moves with delayed action which is provided by aresistance system including springs 29 provided in chambers 70 at theopposite ends of the slide valve. Springs 29 are weaker than springs 26.In the neutral position of the slide valve, pistons 72 are positioned inthe opposite ends of chambers 70 as shown in FIG. 1. The stems on theopposite ends of the movable slide valve part are received in chambers70 respectively where they are slidable in and relative to pistons 72movable in chambers 70. When the slide valve moves in one direction, onepiston will be moved to compress the associated spring 29 while theother piston and spring will remain in position as indicated in FIG. 1b.Pistons 72 divide chambers 70 into two subchambers. One subchamber isconnected to a fluid supply line which has a one-way check valve 29atherein for admitting fluid into this subchamber. Exhaust of fluid fromthis subchamber is through means of a restrictor 29b placed in parallelwith check valve 29a as indicated in FIG. 1b. The other subchambercommunicates with a conduit 73 for supplying and exhausting fluidtherefrom. It will be seen that when the slide valve is moved tocompress one of the springs 29, the associated subchamber will berelieved of some of its fluid which will pass through the restrictorwhile bypassing check valve 290. Spring 29 together with the restrictor29!: thus delay or retard the movement of the control valve 28. When theslide valve returns in the opposite direction there will be noretardation and, fluid will be admitted into the subchamber (which wasjust exhausted) through the check valve 29a. A reservoir 74 is providedfor the resistance system.

Assuming that a load is eccentrically placed on one or both of trolleys2a, 2b and the center of gravity of the load is to the left ofsuspension point 8; upon lifting the totality i.e. the main body 1 andthe load, the main body 1 will turn about suspension point 8 in thevertical plane to the left. This will cause the parallelogram linkage tomove and in turn piston 42 of motor will be actuated. In addition, theuppermost spring 26 will be compressed by control arm portion 24b tomove the slide valve 27, 2b to establish communication between lines and50 while exhausting the right-hand side of cylinder 9 through line 52. Ashort time thereafter, due to the delaying effect of resistances 29provided in the hydraulic circuit, fluid will flow between motorcylinder 10 and the left side of cylinder 9 moving frame 7 and thus theloaded trolleys to the right to verti' cally align suspension point 8with the center of gravity of the combined body and load while alsoplacing the main body 1 in a horizontal position. During this motion,spring 18 is energized resulting from relative vertical displacement ofthe suspension point 9 relative to body 1. When body 1 reaches ahorizontal position and the load is balanced, control arm 24b willreturn to neutral position thus causing slide valve 28 to quickly returnto its neutral position in an accelerated manner thereby cutting off theflow of fluid into the left side of cylinder 9.

Upon release of the load from the suspension trolleys, body 1 will tilttowards the right momentarily in consequence of its center of gravitynow being to the right of suspension point-8. As a result, lower slidespring 26 will be compressed by arm portion 24b causing slide valve 27to open the connection between motor cylinder 10 and the right-handvside of cylinder 9 while opening the lefbhand side of cylinder 9 to theexhaust as illustrated in FIG. 1b. Motor 10 will pump fluid into theright-hand side of cylinder 9 to move frame 7 to bring both trolleys 2aand 2b back again to their original balanced position with the main body1 extending in horizontal plane. During this restoring operation, spring18 which was previously energized by the vertical displacement ofsuspension point.8, actuates cable 17 to move the parallelogram linkageand in turn operate the piston in cylinder l0'which pumps motive fluidinto the right-hand side of cylinder 9. Spring l8 thus aids the returnof the beam to neutral position when the load is removed from the beam.7

When the neutral position of the body is reached, a cam 32 fixed onmovable frame 7 actuates a vent valve 31 which vents motor 10 toatmosphere. At this point spring 18 relaxes and no further displacementof frame 7 takes place.

in order tobias the trolleys 2a and 2b in the normal unloaded position,there is provided a spring 33 which is tensioned by plates 34 againstabutments 35, 36 on the movable frame 7 and also by abutments 37 and 38fixed to the main beam 1.-.lf the frame 7 leaves its middle or normalposition, spring 33 is expanded. Frame 7 is in the normal position whenthe apparatus including the main beam is unloaded. Preferably, thenormal position of frame 7 is when the frame 7 is centered on the mainbeam. When'a load is placed on the trolleys causing the frame to movealong the beam to balance the load as described above, spring 33 willbeexpanded and thus energized so that when the load is removed the springwill urge the frame 7 back to the normal position. Spring 33 thusassists spring 18 in restoring the main beam to normal position uponrelease of the load. In certain cases spring 33 may be omittedparticularly when the strength of spring 18 is sufficiently great.

Preferably safety devices generally designated 39 may be provided toprevent the main beam fromreaching a highly inclined position as aresult of the weight or eccentricity of the load. The safety deviceinclude one way or directional check valves 30c, 30d respectivelyprovided in lines 50,52 to permit motive fluid to flow into the oppositeends of cylinder 9 while preventing return flow. Return flow from theopposite ends of cylinder 9 is provided for by means ofpressure-operated valves 30a and 311]" which are respectively placed inparallel with lines 30a and 30b. Valves 30a and 30f are operated by thepressure in lines 30b and 30a respectively so that for example, whenmotive fluid is flowing through lines 30a into the lefthand side ofcylinder 91, the pressure in that line will cause valve 30f to open topermit the right-hand side of cylinder 9 to be exhausted; the exhaustflow bypassing check valve 30d and entering into line 30b and backthrough line 52 to reservoir 56 through control valve 28. in operationwhen the main beaming inclines excessively so that the pressure in 9a atthe left-hand side of the cylinder 9 is higher than line 30a, flow ofmotive fluid out of the left-hand end 9a of the cylinder 9 is preventedby directional check valve 30c thus preventing the beam to move into aeven greater inclined position. It should be understood that safetydevices 39 are provided as an extra safety measure however it should beunderstood that they may be omitted because directional valves 10a and10b in the supply line 30 also have a retarding effect preventingoverinclination of the beam.

it should be understood that the hydraulic circuit including the variousvalves is mounted on the main body 1 so as to form a self-containedsystem not requiring power from an external source.

FIG. 2 Embodiment Referring to FIG. 2 there is shown a second embodimentof the invention which is simpler than the above-described embodimentalthough it is at the cost of lifting height which however in certainconditions does not matter. ln this embodiment main beam l00-is providedby two mutually facing U-shaped beams which are fixed together toreceive the rollers of trolleys 102 so that the trolleys are movablealong the main beam. Trolleys are movable by means of a cable 103trained about end pulleys mounted in the beam. However in the instantem' bodiment, the alignment of the .cable suspension point 108 and thecenter of gravity of the combined body and load is achieved throughmoving the cable suspension point 108 relative to the body rather thanmoving the trolleys relative to the cable suspension point as in theabove-described embodiment. Movement of trolleys 102 by cable 103 isemployed only for attaching the load to trolleys 102. After attachmentof the load, trolleys 102 remain in fixed position during lifting of theload.

The alignment in the present embodiment takes place by means of fluidcylinders and pistons 104 and 105 bone end of which are connected withrespect to the body for pivotal movement about points 117 and 118 whilethe other ends converge towardsa suspension plate 107 to which thepistons are pivotally connected. Suspension plate has a hole 106. for

receiving the crane hook of the pistons in cylinders .lM and 105 iscontrolled by a slide valve 116 which is operated by a slide 172'underthe control of control arm 112. Controlarm 112 is mounted on the mainbody 100 for pivotal movement about pivot 113 and with the extremity ofcontrol arm 112 connected via rod 172 to slide 116 to operate the sameas in the above-described embodiment.

Control arm 112 is also connected to suspension plate-107 by means ofconnecting links 111 so as to transmit motion to the connecting plate107 when the main body is undergoing adjustment for alignment caused byvertical displacement of the connecting plate 107 relative to the body.This vertical displacement of connecting plate 107 in addition isemployed to energize restorationsprings 119 for restoring the main body100 back to horizontal position when the load is removed from thetrolleys. Springs 119 are connected with respect to the suspension plate107 by means of a cable 120 trained about a pulley 121 such thatrelative vertical movement of the suspension plate 107 relative to thebody will move the pulley to tension or relax the springs 119.

The method of operation of the control valve 116 is showndiagrammatically in a subsidiary drawing, right lower, and is like thatof the valve described above wherein the valve is moved from its middleposition by delay action and returned thereto undelayed. If the centerof gravity of the load is to the left of the suspension point then thealignment device turns to the left. Thereby the arm 112 turns to theright relative to the alignment device and its end 115 moves theactuating slide 116 by delay action downwards. As a result, the space110 of cylinder 105 first comes slowly into connection with thereservoir R whereby the cable suspension point 108 is displaced inrelation to main beam 100 about pivot 117 of cylinder 104. By this meansthe piston in cylinder 105 is extended to move the suspension point 108to the left in relation to the main beam until vertically aligned withthe center of gravity of the combined body and load. The suspensionpoint 108 is moreover displaced vertically with respect to the mainbeam. This vertical displacement being the source of all energy needed.

When the horizontal position is reached, i.e., the suspension plate 107is vertical to the main beam, and arm 112 is also in its middleposition. As a result of this, the control valve 116 goes quickly intoits neutral middle position and flow of motive fluid from space 110 intoreservoir R is no longer possible. Control valve 116 is moved away fromits neutral middle position with delay action so that even when thealignment device still oscillates somewhat and rolls back, no movementfrom the cylinders will take place. If the totality swings too far thenarm 112 is deflected up. After some time the valve 116 reacts slowly bywhich it exhausts some motive fluid from space 109. Attainment of themiddle position in this manner takes place slowly. In order to putitself in equilibrium the spindle 108 can move in an area which islimited by the segments ABCD. A maximum displacement of the center ofgravity can therefore take place through the path BC.

The erection possibilities of this construction are excellent. This willbe explained by FIGS. 20 and 2b. The points 117 and 118 correspond tothe turning points 117 and 118 of the cylinders 104 and 105. The pointsA, C and D in FIG. 2a correspond to the same points in FIG. 2. Thepoints E and F arise when the pistons in cylinders 104 and 105 areextended downwards. Suppose this extension is such that point F can bereached by the turning point 108 in FIG. 2. The circle segment AC iscovered when the center of gravity is situated a little to the left ofpoint 118 (21). If after that the center of gravity is replaced a littleto the right of points 117 (Z3), the circle segment CDE is covered bythe suspension point 108. After unloading of the alignment device thesegment EF is covered (center of gravity Z2), it being supposed thatsprings 119 are weak, so that the device is returned to its startingposition after setting down the device.

The perpendicular on the relative trajectories of suspension point 108never coincides with the center of gravity, so erection is possible inall cases. Suppose the same point F is to be reached by the alignmentdevice of FIG. 1. The relative trajectory of suspension point 108 canthen be represented by ACD'E'F' in FIG. 2b, composed by straight lines.Supposethe center of gravity of the device and load is in point Z1, nearpoint 118. If in that case the alignment device hangs free, the verticalpasses the points A and Z1. While Z1 is to the right of theperpendicular on the trajectory AC no adjustment of the device ispossible. The same difficulties can occur after displacement of thecenter of gravity to the points Z3 and 22.

After the release of the load the alignment device must return to itsstarting position. The energy necessary therefor is taken from energyaccumulated which in the present case consists of springs 119. These arecharged with energy which is obtained through the vertical displacementof the suspension point and of the center of gravity with respect to oneanother on lifting the load. By means of cables or chains 120 which runover the pulleys 123 lying alongside one another, to suspension point108, the springs 119 exert their effect.

Upon return of the alignment device into its starting position, thepistons are again fully depressed in the cylinders 104 and 105. This ispossible because the lower ends are continuously in open connection withreservoir R. The upper ends of cylinders 109, 110 are supplied byreservoir R return flow to which is prevented by check valves 122.Return flow from the cylinders to reservoir R is regulated by pressurereducing valves 131 and variable restrictor 133, resulting in a constantflow velocity, independent of the weight of the load thereby providing asecurity measure.

As an alternative to the horizontal sensing members 111, and 112, it isalso possible to control valve 116 through means of a pendulum. Forexample, and with reference to FIG. 2, suppose that members 111 areomitted and arm 112 is set vertically, i.e., turned through and has aweight attached to its free end, e.g., to the right of pivot 115 to thusact as a pendulum. Also, valve 116 is likewise turned through 90. Thealign- 'ment device then measures its horizontal position from thevertical position of the pendulum in relation to the main beam. Use of apendulum is also illustrated in the FIG. 5 embodiment to be describedsubsequently.

Another embodiment is possible in which weaker springs 119 are selectedso that the alignment device does not contract of its own accord butfirst goes into its middle position when it hangs unloaded on thelifting cable. The contraction then first takes place when it is setdown. Since strong tension springs 119 can influence the readiness ofcylinders 104, 105

'to discharge, this measure may be necessary if relatively light loadsare to be lifted. When a load hanging on the automatic alignment deviceis influenced by external forces, e.g. when attaching a constructionelement hanging on the device, the device will react correspondinglywhen it adjusts itself. This can be undesirable. Because of this, it maybe necessary to fix the control means in the middle position so that nopossibility of adjustment is available.

When loads have to be lifted in which the eccentricity of the total loadis greater than the eccentricity to which the alignment device can beset, the alignment device can then also be set eccentrically itselfwhereby a doubled or increased range of adjustment to one side ispossible. This may be effected in one way by adjusting the trolleys toshift the location of the point which is equidistant to both. In themodified device, the springs must be designed to permit the empty deviceto balance itself.

Referring to FIG. 2, a manual control may be employed to operate valve116 between various positions blocking or permitting flow of motivefluid. Control 125 may include a cam 127 rotated by a lever 129 todepress or release the stem of valve 116.

The main beams described in FIG. 1 and 2, fitted with an automaticalignment device, are suitable for transporting construction elements,concrete boarding or similar flat loads not standing in equilibrium.With other loads it can arise that the main beam with the trolleys isnot necessary as a totality. It then suffices e.g., to provide eyes orhooks under the pivots I17 and 118 in FIG. 2, upon which the load can besuspended.

FIG. 3 Embodiment Yet another embodiment of the invention is shown inFIG. 3 in which a suspension point 301 is provided at the top of twocylinders 302 and 303 which are coupled together at 304 and 305.Cylinders 302, 303 are mounted for vertical movement in a holder 306which is pivotally mounted at 307 on a small beam 308, which small beam308 is supported at its end via shafts 309 by trolleys 310. Trolleys 310are movable along a main beam 311. A chain 314 is attached to the endsof piston rods 312 and 313 in cylinders 302, 303 which chain passes overa chain wheel 315 fixed on a shaft 316 which is rotatable in the lowerend of holder 306. A pair of chain wheels 317 (two for symmetry) arefixedly secured on the ends of shaft 316. Shaft 316 carries the wholedevice via the chain 314 and the cylinders 302 and 303. Chains 318 passover chain wheels 317 and over chain wheels 319 and 320, rotatablymounted on shafts 309, to connection points 321 and 322 on the mainbeams 311. Due to the weight of the alignment device and any load,pressure is generated under the pistons in the cylinders 302 and 303when the device is in use. If hydraulic fluid is evacuated from cylinder302, the end of the piston rod 312 wili move downwardly while piston rod313 remains stationary. Shaft 316 accordingly moves downwardly half thedistance covered by the end of piston rod end 312 as does the alignmentdevice itself carried thereby. In consequence of this downward movement,wheel 315 on shaft 316 will be turned to the left (counterclockwise) bychain 314 as will wheel 317 on the same shaft 316 with the result thatholder 306 and trolieys 310 are moved to the left, relative to main beam311, until stopped by 321. Suspension point 310 thus covers the distanceAB relative to main beam 311. If on the other hand cylinder 303 isevacuated suspension point 1 will follow the line AC in the oppositedirection.

When cylinder 303 is evacuated after cylinder 302 is evacuated, therelative path BD (see FIG. 3d) will be followed by suspension point 301.By doubling the length of the cylinders, the suspension point 301 canmove in the plane ACI-IFEB and can also follow the paths AG and GF. Thismay be necessary if a load is suspended on chain 311g of FIG. 3a. Withsuch a great eccentricity, the suspension point of the device can takeup positions on one side of the middle position, whereby both suspendingmembers can be totally exhausted. If a weak ener gy accumulator is used,the line GF is covered after setting the load. This enables the deviceto be used for moving a load hanging on a crane cable horizontally in acovered space, using the device as a counterbalance- The point 322 thenhas to be displaced to the right.

In FIG. 3b is given an example of the operation of the deviceschematically. Cylinders 302 and 303 can be exhausted via pressurereducing valves 323 and 324. The velocity of evacuation can be regulatedby resistances in the form of variable restrictors 325 and 326 and isindependent of the weight of the load. Evacuation is controlled byvalves 327 and 328, which are normally kept in closed positions byfloats 328 and 330 via connecting rods 331 and 332 due to the liquidlevels 333 and 334 in double tanks 335 and 336. The valves will openwhen the liquid levels are reduced to that represented by 337 and 338.Tanks 335 and 336 are intercommunicated at their upper ends by means ofan elongated conduit 339 which is parallel to the'main beam. Tanks 33Sand 336 are also communicated at their lower ends by a conduit 339a ofsmaller diameter than 339.

Suppose now that the center of gravity of the device and the load is tothe right of the suspension point on the crane cable so that thealignment device turns to the right. The liquid in elongated conduit 339will stream to the right and as a result, the level 334 will rise andvalve 328 will remain closed. With valve 340 in position to the right,the liquid in small tube 339a will move to the right too, although muchmore slowly, its velocity being controllable by variable resistance 341.As a result the level 333 will fall slowly. When level 337 has beenreached, valve 327 opens and cylinder 303 will deflate, causing amovement of the suspension point to the right and turning of thealignment device to the left.

When the alignment device reaches the horizontal position,

liquid from tube 339 will flow quickly into tank 335, level 333' will bequickly restored and valve 327 closed suddenly. If the center of gravityof the device and a load is to the left of the suspension point then thesame occurs in reverse. in this manner the desired slowly open-quicklyclosed" regulation, as in the previous embodiments, is obtained using aliquid level as control medium. An advantage of this embodiment is thatdue to the relatively long length of the main beam, even with a smalldeviation of the device from the horizontal a positive controlling forceis obtained and that the deadweight of the controlling means is small,whereas if a pendulum is used it has to be of relatively great weightand combined with controlling means sensitive to small controllingforces with the consequence that a heavy and in most cases a costlyconstruction results.

Hydraulic liquid is evacuated from the upper compartments of tanks 335and 336 to feed cylinders 302 and 303. Through valves 345, 306. Theupper compartments of tanks 335 and 330 are separated from the lowercompartments thereof by vertical tubes 342 and 343 so that liquid insaid lower compartments cannot come into contact with the liquid in thelower compartments of the .tanks, though there is an open connection byway of said tubes between the upper and lower compartments. A gas tube344 connects the upper compartments of the two tanks. With gas pressurein the tanks 335 and 336, they will serve as one energy accumulator forbringing the alignment device back into its middle position aftersetting down a load, via the directional valves 345 and 346. Positioningtakes place by the end stops 347. The main beam 311 can swing roundpivot 307.

If the beam inclines too much, i.e., if the inclination is more than theinclination of the lines AB and AC of FIG. 2a, the beam comes into asituation in which it can slide down, in which case the device comesinto a labile condition and cannot restore itself since the eccentricitywill increase instead of decrease. To prevent this dangerous situation,stops 306a and 306b are provided on holder 306, which stops are adapted,when the inclination becomes too great, to contact earns 31 la and 31 1bon main beam 311 and block the system so that sliding down isimpossible.

A further safety device is fonned by an artificial horizon 348 defininga track receiving a ball 349 that serves as a visual indication of theinclination of the device by virtue of movement of the ball along track348. This device can also be used when viewing the alignment devicevertically from the top of the crane. This safety device is alsosuitable for other embodiments of the alignment device of the invention.Other security measures may be necessary or desirable e.g., to combatunwanted influences such as wind forces, guilding forces on the load,etc. Such further measures may consist of blocking the controlling meansor limiting them in their action, e.g., so that the device will adjustonly to the right or left, or adjust only when the operator wants it. Anexample is given in FIG. 3b wherein valve 340 normally blocks thecontrolling means. Pulling on one or other of chains 340a sets thealignment device to adjust in one direction if the balancing member sopermits. In certain circumstances the arrangement may be such that thesecurity device is controlled by the load itself or by adding a load tothe device. Another embodiment of the alignment device of FIG. 3 isformed by connecting the holder 306 to the main beam 3ll, c.g., byconnecting the bearings of pivot 307 to the main beam. In this case themovement of the suspension point 301 relative to trolleys 311 takesplace as in the embodiment of FIG. l. A simple form of the alignmentdevice can be provided if the eccentricity of the load is always to oneside of the suspension point. Thus instead of using a pair of expandingsuspending means like the cylinders 302 and 303 of FIG. 3 only onecylinder may be used in combination with a strong energy accumulator.

A modified control means which employs a liquid level is shown in FIG.30, wherein 3400 is a slightly curved tube suspended at and rotatableabout 349a. 350a is a control valve similar to the control valves of theformer embodiments. With only a small inclination of the alignmentdevice, the liquid in tube 349a exerts a relatively great controllingforce on valve 350 due to the fact that the tube is curved about 349 andcontains sufficient liquid to fill one side of the tube with only asmall inclination represented by 351. With this arrangement undesiredundulations are prevented. If desired, one can install resistances inthe tube. The same effect can be obtained by using balls rolling in thetube and if the tube also contains liquid their working is intensifiedand their movement is clamped.

FIG. 4 Embodiment This embodiment is similar to the FIG. 2 embodiment.The control means however, acts hydrostatically similar to that in theFIG. 4 embodiment. Though the basic thought is the same, the operationthe hydrostatic control means in the present em bodiment is not the sameas that in FIG. 3. Numerals 410i and 402 denote the hydraulic adjustmentcylinder the motive fluid of which can be evacuated via the pressurereduction valves 003 and 404. The quantity of evacuated fluid isindependent of the pressure in the cylinders, since they maintain thesame pressure difference between A, All and B. The evacuated fluid isreceived in the high-pressure accumulator HP if valve 405 is closed. Ifvalve 405 is opened, the fluid is received in the low pressureaccumulator LP. When the pistons in cylinders 401 and 402 are completelyretracted by motive fluid supplied by reservoir R and moving throughdirectional valves 406 and 407, the accumulators are empty of motivefluid. These accumulators do the same job as springs 119 in the FIG. 1embodiment, Valve 408 is here activated by membranes 409 and 410, onwhich is acting hydrostatic pressure from tanks 411 and 412 which arepositioned at opposite ends of the main beam 413. Membranes 409, 410 areattached to plates 409a and 410a which in turn are secured to valvestems 408a and 40% employed to slide the valve 408. A small inclinationof the beam will produce a small hydrostatical level difference betweentanks 411 and 412. However, as the surfaces of plates 409a and 409b, arerelatively great, a relatively great actuating force will be imposed onvalve stem 408a, 4013b.

Suppose the beam inclines to the right, consequently valve 408 is movedto the right against the springs 424a and 425a. In the membrane boxes418 and 419 are partitions 420 and 421 in the center of which are shorttubes 420a and 421a. These tubes are closed by plates 422 and 423 actingas valves and being pushed by weak springs 424 and 425. If the valve istending to move to the right, the fluid in membrane box 419 is forced topass through resistance line 417, resulting in a delayed movement of thevalve. The beam drawing near the horizontal makes the springs 425 and4250 dominating. Owing to this, the valve is pushed back quickly, sincethere is no resistance against the flowing back of the controllingfluid, caused by lifting valve plate 422 by the hooks 40%. Spring 425 isso weak that plate 423 is lifted very easily by the fluid flow. Bringingback the valve in the middle position quickly, can be promoted too byaction of cylinders 426 and 427. The fluid from the cylinders 401 and402 is evacuated via lines 428 and 429, passing through resistances 426aand 4270. The result is a pressure difference on the pistons 426 and427b causing a force returning the valve to its middle position, likethe springs 424a and 425 also do. The easy controllability of thehydraulic resistance 426a and 42612 is an advantage. By bringing backthe valve in this accelerated way, the beam is not swinging through thehorizontal position, when adjusting. Consequently the velocity of themotive fluid, flowing from the cylinders, is dependent of theinclination of the beam. When the beam is approaching the horizontal,the motive fluid velocity is diminishing. As a consequence, whenhoisting with a very small velocity, the inclination of the beam duringadjustments is very small too. This prevents damage to the load (f.e.fresh and weak concrete panels).

FIG. 5 Embodiment Referring to FIG. 5, another embodiment of theinvention is illustrated wherein the cable suspension point is movedrelative to the center of gravity of the total load until verticallyaligned with the latter in order to balance the load in a predeterminedposition. In addition, in this embodiment, the suspension point on thecable does not move vertically relative to the beam during theadjustment. This feature can be important in situations where the craneoperator cannot see the load which for example may be a large containerillustrated at 502 in the drawings. However in the instant embodiment,the cable suspension point is displaced vertically relative to the beamprior to the adjustment operation as will be described in more detailbelow.

The FIG. 5 embodiment includes a main beam 503 on which there is mountedfor slidable movement, a carriage 511 to which the crane cable 501 isadapted to be secured by means of a piston and cylinder assembly. Thelatter includes a cylinder 504 pivotally connected at its lower end 530to the carriage 511, and a piston 532 the upper end of which has a ringreceiving cable hook 501. The load, which is container 502, may beattached to the main beam 503 in any suitable manner such asconventional twist locks represented by 503a.

ln aligning the cable suspension point 501 with the center of gravity ofthe total load, the carriage 511 is moved by a piston and cylinderassembly including a cylinder 509 fixed with respect to the main beam503, and a piston 509a the opposite ends of which extend from thecylinder to engage end portions 534 on the carriage. Carriage 511 may bemounted on the beam 503 by any suitable means such as opposite pairs ofrollers 536 which receive the carriage 511; the rollers 536 beingrotatably mounted on vertical uprights 537 which are flxed at the lowerends to main beam 503. ln this manner, carriage 511 is movable in a pathparallel to the main beam 503.

After the load is released, carriage 511 is moved to the normal positioncentered on the main beam 503, by means of fluid motors 515 fixed on theopposite ends of beam 503 and having pistons 515a engageable with theopposite ends of carriage 511 to adjust the same into the normalposition.

Cylinders 509 and 515 are operated by a hydraulic system including ahigh-pressure accumulator 50S and a low-pressure accumulator 512. Aslide control valve 507 controls the supply and exhausting of cylinder509. Actuation of control valve 507 in response to inclination of themain beam 503 upon initially lifting the load, is achieved through apendulum 506 the upper end of which is pivotally connected to main beam503. Pendulum 506 is operatively connected to one end stem 507b of valve507 to move the valve in accordance with the motion of the pendulumwhich in turn senses the condition of beam 503. Movement of the beam inthe alignment process is delayed or retarded by a resistance or dashpotsystem 507a which is similar to the devices in the other embodimentsdescribed above. A pressure reducing valve 508 is placed in the linebetween high-pressure accumulator 505 and control valve 507.Additionally a variable restrictor 510 is placed in this line downstreamof pressure reducing valve 508 to control the velocity of flow.

Operation of the presently described embodiment is initiated by liftingcrane hook 501 to pull out piston 532. As suming the container load 502is secured to main beam 503, the crane cable is raised to lift beam503|with the load attached thereto. As a result of any eccentricloading, beam 503 will pivot or rotate about point 530 towards thecenter of gravity. This will cause the pendulum 506 to move in responseto the eccentric loading which after a time delay, will actuate valve507 to permit motive fluid to flow from the high-pressure accumulator505 through pressure reducing valve 508 and restrictor 510 to one end ofcylinder 509 to actuate piston 509a for moving carriage 511 toultimately shift the suspension point 501 into vertical alignment withthe center of gravity of the total load. During this time fluidexhausting from the other end of cylinder 509 is being received in thelow-prcssure accumulator 512, this fluid passing through another portionof the valve 507.

When equilibrium is reached, the pendulum will shift valve 507 to stopthe flow of fluid from high-pressure accumulator to cylinder 509. Afterthe load 502 is released, piston 532 of cylinder 504 is retracted byremaining motive fluid in highpressure accumulator 505 and by motivefluid in low-pressure accumulator 512 traveling through check valve 13,after highpressure accumulator S05 is empty. When piston 532 is fullyretracted, an arm 538 fixed to piston 532 will actuate a valve 540 toconnect the opposite ends of cylinder 509 thus allowing carriage 511 tobe restored into nonnal position by fluid motors 515. A reservoir 516may be connected to the lower end of cylinder 504 for sump purposes.Also reservoir 516 may be connected to the conduit which connects theaccumulators to the upper end of cylinder 504; there being a check valve517 for additional supply purposes.

in addition to the pendulum 506, a manual control 518 may be employed toactuate valve 507. Manual control 518 is connected to stem 507b of valve507 to operate the same upon manipulation by the operator.

Mil FIG. 6 Embodiment This alignment device, which may be compared tothe HO. 3 embodiment, includes a beam 601 for lifting the load 621, anda main frame 602 projecting oppositely to beam 601. In main frame 602 issuspended a vertical quiver frame 603 which is pivotable about pivot 604borne in frame 602. Rotation of quiver frame 603 about 604 is limited bya beam 605 which is pivoted to the quiver frame at its upper end andconnected to a rod 606 which is movable along frame 602. Move merit ofbeam 605 and rod 606 is limited by stops 607a and 60712 fixed in spacedrelationship on rod 606 to be engageable with opposite sides of a stop607a fixed to main frame 602. Although the beams 601 and 605 and themain frame 602 and quiver frame 603 have been given different names, itshould be understood that structurally, they constitute a single beamwhen lifted by the crane cable.

inasmuch as the main frame 602 and quiver frame 603 are made as light aspossible, and the load 621 is always suspended from beam 601, the centerof gravity of the combined load will always be situated to the left ofpivot 604. it is therefore possible to employ only one adjustment devicewhich is shown as cylinder 608 and its piston 608a. The bottom ofcylinder 608 is attached to main frame 602 while its piston 608aisconnected to a suspension piece 609 which is slidable vertically inquiver frame 603. The crane cable hook 622 is secured to suspensionpiece 609 by means of a cable 622a.

In this embodiment, the load is balanced by means of a counterweight 618which is mounted by wheels 618a for movement along main frame 602towards and away from quiver frame 603. Counterweight 618 is actuated bycable and pulley system including pulleys 611 and 612 which are mountedon the lower end of a hydraulic cylinder 610 the piston 610a of which isconnected at its upper end to the suspension piece 609. The pulleysystem further includesa cable fixed to the quiver frame at point 617and trained over pulley 611 and then over pulleys 614 and 616 mounted onthe quiver frame and then finally connected to one end of counterweight618. The other end of counterweight 618 has secured thereto a secondcable which is fixed to the quiver frame at point 619 and trained aboutpulleys 613 and 615 mounted on the quiver frame and pulley 620 mountedon main frame 602. Counterweight 618 is designed such that itis locatedadjacent the quiver frame at the starting position of each operation,that is at the left-hand end of main frame 602, thus locating the centerof gravity to the leftas much as possible.

The lower ends of cylinders 608, 610 on one side of their respectivepistons are connected with atmosphere while their upper ends areconnected to the fluid control system which will be described below. Inthe starting or normal position pistons 600a and 610a are fullyretracted in their cylinders with the upper ends of the cylinder beingfilled with motive fluid.

When load 621 is hooked on to the end of beam 601, and the crane hook622 and cable 622a are lifted slowly, the device will be tilted to theleft, causing valve 623 mounted on frame 602 to open. Consequentlymotive fluid from cylinder 600 will flow through valve 624 and the valve623 and into reservoir 625. Cylinder 610 being blocked at this point byvalve 624, serves as a coupling for the crane hook and the cable pulleys611 and 612. As a result of the eccentric loading, piston rod 600a willmove out of cylinder 608 and pulleys 611 and 612 will also move the samedistance as piston rod 608.

This motion will be transmitted to counterweight 610 to move the sameaway from the quiver frame a distance which will be twice the distancemoved by the piston rod 608.

When the torque of counterweight 610 about pivot point 617 becomesgreater than the torque of the load 621 about pivot 617, the beam willtilt to the right causing valve 623 to close and the counterweight 618to be blocked in position because the flow of motive fluid from cylinder608 to tank 625 will be blocked by valve 623. At this point flow offluid out of cylinder 610 will remain blocked by valve 624. The load 621may then be transported to its destination.

Release of the load takes place in two steps the first one occurringwhen the load arrives over its destination point. The operator thenmoves the handle of valve 624 to the left causing cylinder 603 to beblocked and cylinder 610 to be unblocked whereupon motive fluid flowsfrom cylinder 610 into reservoir 625. The energy accumulated in thevertical displacement of the counterweight 618 will cause cylinder 610to move downwardly to move the counterweight 618 towards the quiverframe into an equilibrium position. The load 621 may then be releasedafter which the piston rods 608a and 6101: will move downwardly intotheir respective cylinders under the weight of the suspension piece 609after setting down the device while motive fluid flows from tank 625through check valves 626 and 627 into the upper portions of cylinders608 and 610 to restore the device in the normal position for the nextoperation.

It will be noted that the present embodiment, the crane cable suspensionpoint does not move in a horizontal direction during the adjustmentperiod. The retarded-accelerated movement of the control valves 624 isnot necessary because accuracy is not that critical with thisembodiment. The counterweight 618 is made stable in its movements bymeans of the cable which extends over pulleys 616, 614 and 611 and isfixed to point 617 on the quiver frame. This device may also be modifiedby employing a direct hydraulic drive for the counterweight618.

P10. 7 Embodiment The FIG. 7 embodiment also employs a counterweight716, for balancing a beam 702 with a load 701, and this embodiment isalso useful in bringing the load into a covered space such as 703.Included in this embodiment is a vertical beam 704 the upper end ofwhich is attached to the crane cable 730 by hook 732. Slidably mountedon beam 704 by rollers 705, 706 is a vertical quiver frame 702a thelower end of which supports a sprit or horizontal beam 702 adapted topick up the load 701 as illustrated. To stabilize quiver frame 702a andto bring it back in its starting position after detaching the load, acounterweight 702b may be attached to the quiver by a cable 702s passingabout a pulley 702d mounted on beam 704.

Beam 702 with load 701 is balanced in predeten'nined (horizontal)position by means of counterweight 716 which is fixed to the end of anarm 715 that is pivoted at 710 to beam 704 for angular movement about710. Actuation and control of am 715 and counterweight 716 is achievedautomatically like a letter balance. A control cylinder, like cylinder608 in FIG. 6, therefore can be omitted. Through a piston-cylinderassembly including cylinder 708 secured to quiver frame 702a and piston7080 connected to a cable 707 the counterweight can be brought in itsstarting position quietly after the load is on its destination (thecylinder 708 has the same function as cylinder 610 in FIG. 6). Cable 707is trained about pulleys 709, 710 and 711 mounted on beam 706 at itsupper end. Cable 707 further is trained around pulley 712 and is fixedto 712!) of pulley block 712. From 7112c a cable 713 is guided about aquadrant piece 714 and finally attached to an intermediate portion ofarm 715. The ratios of pulleys 710, 711, 712 and the ratio of distance Aand radius R of quadrant 714 theoretically are equal.

When the device is unloaded the beam will extend horizontally and beam706 will extend vertically. After setting down the load 701, swingingdown the counterweight 716 and detaching the load 701, the counterweight7012b pulls the beam 702 upwards to its staRting position. The piston700a and the piston rod are moving in cylinder 700 by their own weight.Exhaust of cylinder 700 is controlled by valve 732 which is manuallyactuated by the operator. Cylinder 700 is supplied from a reservoir Rthrough a conduit 760 having a one-way check valve 742. Exhaust ofcylinder 700 is also through conduit 7 10 except that the exhaust flowbypasses check valve 742 by passing through valve 732 after which itreturns to reservoir R To swing counterweight 710 out (counterclockwisein the drawings) to balance load 701, cylinder 708 acts as a couplingcausing cable 713 to move upwardly to swing out counterweight 716 untilthe load 701 is balanced in horizontal position. To release the load,valve 732 is moved from position I to I] to open valve 732 to conduit740 whereby fluid will exhaust from cylinder 708 through valve 732 andinto reservoir R The load may then be released and the device willreturn to normal position by the counterweight 702b, pulling up the beam702 and the quiver 702a.

Although the specific embodiments described above are employed tobalance loads in a two-dimensional system, it will be apparent that thesame concept of the invention may also be employed to balance a loadwith respect to the third dimension. To achieve this object, additionaldriving mechanisms and associated sensing devices are provided toproduce the necessary relative movement in the third dimension betweenthe work load and the center of gravity of the total load. For examplethe FIG. 2 embodiment could be modified for threedimensional operationby employing three or four fluid motors arranged in pyramidal fashionwith the apex connected to suspension plate 107.

Additionally, although the drive mechanisms employed in theabove-described embodiment are hydraulically driven, other purelymechanical drive mechanisms may be employed instead. Moreovermechanicabhydraulic drive mechanisms, as well as electromechanical drivemechanisms may also be employed.

lclaim:

1. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and solely mechanical actuating meansfor moving said body suspension means relative to the center of gravityof the combined body and load until the cable suspension point and saidcenter of gravity are vertically aligned with the body and load in apredetermined position, said actuating means being operable in responseto and from energy solely derived from swinging movement of the bodyrelative to the cable upon initially lifting the body and its loadwhereby the load is ultimately balanced in predetermined position.'

2. Apparatus defined in claim 1 further including means for limitingmovement of the body relative to the crane cable upon initial lifting ofthe body and load.

3. Apparatus defined in claim 1 wherein said actuating means includes afluid motor and control means for supplying or exhausting the motor withmotive fluid upon swinging movement of the body relative to the cablewhen the body and load are initially lifted.

4. Apparatus defined in claim 3 wherein said control means includesmanually operable means mounted on said body.

5. Apparatus defined in claim 3 wherein said control means includes acontrol member mounted with respect to said body to move in response tomovement of said body relative to the cable when initially lifting aload, and valve means connected to said fluid motor to supply or exhaustthe same with motive fluid in response to actuation by said controlmember.

6. Apparatus defined in claim 5 wherein said control member is apendulum having one end pivotally connected with respect to said body.

7. Apparatus defined in claim 5 further including hydraulic resistancemeans associated with said valve to delay movement of said valve andconsequently initial operation of said fluid motor in ultimatelybalancing the load in predetermined position.

8. Apparatus defined in claim 7 wherein said hydraulic resistance meanspermits the body to be restored to a neutral position in an acceleratedmanner upon detachment of the load.

9. Apparatus defined in claim 1 wherein said body suspension meansincludes a cylinder and piston movable in the cylinder to providemovement of said body suspension means relative to the body.

10. Apparatus defined in claim 9 wherein said piston and cylinder arerelatively movable to shift said body suspension means to align thecable suspension point and said center of gravity upon initial liftingof the body and load.

11. Apparatus defined in claim 10 further including restoration meansfor restoring the body into a predeterrnine position upon release of theload from the body, said restoration means being energized by verticaldisplacement of the body suspension means relative to the body.

12. Apparatus defined in claim '1 wherein said predetermined position ofsaid body and load is horizontal.

13. Apparatus defined in claim 1 wherein said body suspension means ismounted for movement along the body and wherein said actuating meansincludes a motor for moving said body suspension means along the body tovertically align the cable suspension point and said center of gravity.

14. Apparatus defined in claim 13 wherein said body suspension meansincludes a piston and cylinder one of which is adapted to be connectedto said cable suspension point.

15. Apparatus defined in claim 14 wherein said cylinder and pistonextend generally vertically and in parallel to each other.

16. Apparatus defined in claim 1 wherein said body suspension meansincludes two fluid motors connected to said body and adapted to beconnected to said cable, said fluid motors being operable to shift thecable suspension point into vertical alignment with said center ofgravity in response to swinging movement of the body relative to thecable upon initially lifting the body and its load.

17. Apparatus for lifting loads by means of a crane cable or the like,apparatus comprising in combination, a body, a body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, means for providing relative movementbetween said body suspension means and said body, and solely mechanicalactuating means energized solely through mechanical energy derived fromrelative vertical displacement of said body suspension means and saidbody for producing relative horizontal movement between said bodysuspension means and the center of gravity of the combined body and loaduntil the cable suspension point and said center of gravity arevertically aligned with the body and load in a predetermined position,operation of said actuating means to ultimately balance the load in apredetermined position being initiated in response to swinging movementof the body relative to the cable upon initial lifting of the body andload.

18. Apparatus defined in claim 17 wherein said actuating means isoperated automatically in response to swinging movement of the bodyrelative to the cable upon initially lifting the body and load wherebythe load is ultimately balanced in predetermined position automatically.

19. Apparatus defined in claim 17 wherein said actuating means movessaid lead suspension means along the body until the center of gravity ofthe combined body and load is in vertical alignment with the cablesuspension point.

20. Apparatus defined in claim 17 wherein said body includes acounterweight movable along said body, and said actuating mans isoperable to move the counterweight along the body until the center ofgravity of the combined body and load including the counterweight is invertical alignment with the cable suspension point.

21. Apparatus defined in claim 19 wherein said load suspension meansincludes a trolley movable along said body and wherein said actuatingmeans is operable to move said trolley along said body.

22. Apparatus defined in claim 18 wherein said actuating means includesa fluid motor and control means for supplying the motor with motivefluid upon swinging movement of the body relative to the cable when thebody and load are initially lifted, said control means including aliquid level mounted on said body to move in response to swingingmovement of the body relative to said cable during initial lifting ofthe load to control said fluid motor.

2.3. Apparatus defined in claim 22 wherein said control means furtherincludes a slide valve operable in one direction in response to liquidin said liquid level, and spring means urging said slide valve in theopposite direction for restoring liquid in said liquid level.

24. Apparatus defined in claim 17 wherein said load suspension means ispositioned on one side of said body and wherein the opposite side ofsaid body contains a counterweight movable along the opposite side ofsaid body by said actuating means to bring the center of gravity intovertical alignment with the cable suspension point, said body suspensionmeans being located between said opposite sides of said body.

25. Apparatus defined in claim 24 wherein said body suspension mansincludes a cylinder having a piston, motion transmitting meansinterconnecting said piston and saidcounterweight, said actuating meansincluding control means for exhausting motive fluid from said cylinderto move the piston and ultimately said counterweight along said bodyuntil the center of gravityis vertically aligned with the cablesuspension point.

26. Apparatus defined in claim 24 further including time delay means fordelaying operation of said actuating means in response to swingingmovement of the body relative to the cable upon initially lifting thebody.

27. Apparatus defined in claim 26 further including restoration meansfor restoring the body to a neutral position when the load is detachedtherefrom, and means for accelerating movement of the body to theneutral position upon detachment of the load.

28. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected tothe body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for producingrelative movement between said body suspension means andthe center ofgravity of the combined body and load until the cable suspension pointand said center of gravity are vertically aligned with the body and loadin a predetermined position, said actuating means being operable inresponse to swinging movement of the body relative to the cable uponinitially lifting the body and its load whereby the load is ultimatelybalancedin predetermined position, and restoration means for restoringthe body to a predetermined position after the load is removed from thebody, said restoration means being governed by vertical displacementofsaid body suspension means relative to the body.

29. The apparatus defined in claim 28 wherein said restoration meansincludes spring means energized upon vertical displacement of said bodysuspension means relative to the body, and means interconnecting saidspring means and said body suspension means.

3%. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for moving said bodysuspension means relative to the center of gravity of the combined bodyand load until the cable suspension point and said center of gravity arevertically aligned with the body and load in a predetermined position,said actuating means being operable in response to swinging movement ofthe body relative to the cable upon initially lifting the body and itsload whereby the load is ultimately balanced in predetermined position,and restoration means for restoring the body to a predetermined positionafter the load is removed from the body, said restoration means beinggoverned vertical displacement of said body suspension means relative tothe body.

gravity in response toswinging movement of the body relativev 31.Apparatus defined in claim 30 wherein said restoration means includesspring means energized upon vertical displacement of said bodysuspension means'relative to the body and means interconnecting saidspring means and said body suspension means.

32. Apparatus defined in claim 30 wherein said restoration meansincludes a fluid motor operatively connected to said body to move thebody iii a predetermined position.

33. Apparatus defined in claim 32 wherein said actuating means includesa fluid motor, and a control means for controlling the supply andexhaust of motive fluid to both of said fluid motors.

34. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for producingrelative movement between said body suspension means and the center ofgravity of the combined body and load until the cable suspension pointand said center of gravity are vertically aligned with the body and loadin a predetermined position, said actuating means being operable inresponse to swinging movement of the body relative to the cable uponinitially lifting the body and its load whereby the load is ultimatelybalanced in predetermined position, said actuating means furtherincluding a fluid motor and control means for supplying or exhaustingthe motor with motive fluid upon swinging movement of the body relativeto the cable when the body and load are initially lifted, said controlmans including a control member mounted with respect to said body tomove in response to movement of said body relative to the cable wheninitially lifting a load, and valve means connected to said fluid motorto supply or exhaust the same with motive fluid in response to actuationby said control member, said control member including an elongated armpivotally connected with respect to said body and extending generally inthe horizontal direction of said body.

35. Apparatus defined in claim 17 wherein said control means furtherincludes a slide connected to said control member and said valve means,and spring means normally urging said slide and control member into apredetermined position.

36. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a pointon a. cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for moving said bodysuspension means relative to the center of gravity of the combined bodyand load until the cable suspension point and the center of gravity arevertically aligned with the body and load in a predetermined position,said actuating means being operable in response to swinging movement ofthe body relative to the cable upon initially lifting the body and itsload whereby the load is ultimately balanced in predetermined position,said body suspension means including two fluid motors connected to saidbody and adapted to be connected to said cable, said fluid motors beingoperable to shift the cable suspension point into vertical alignmentwith said center of to the cable upon initially lifting the body and itsload, said fluid motors extending at an oblique angle relative to thebody and converging at the cable suspension point, said fluid motorsbeing pivotally connectedwith respect to said body to pivot relative tosaid body while aligning the cable suspension point with the center ofgavity.

37. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a bod-y, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, actuating means for moving said bodysuspension means relative to the center of gravity of the combined bodyand load until the cable suspension point is at center of gravity orvertically aligned with the body and load in a predetermined position,said actuating means being operable in response to swinging movement ofthe body relative to the cable upon initially lifting the body and itsload whereby the load is ultimately balanced in predetermined position,and hydraulic means for operating said actuating means, said hydraulicmeans including hydraulic resistance means for delaying initialoperation of said actuating means in ultimately balancing the load inpredetermined position.

38. Apparatus defined in claim 37 wherein said resistance means includesvariable restrictors.

39. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, a body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, means for providing relative movementbetween said body suspension means and said body, and aetuating meansenergized by relative vertical displacement of said body suspensionmeans and said body for producing relative horizontal movement betweensaid body suspension means and the center of gravity of the combinedbody and load until the cable suspension point and said center ofgravity are vertically aligned with the body and load in a predeterminedposition, operation of said actuating means to ultimately balance theload in a predetermined position being initiated in response to swingingmovement of the body relative to the cable upon initial lifting of thebody and load, and restoration means for restoring the body to apredetermined neutral position after the load is detached from the body,said means for producing relative vertical movement between said bodysuspension means and said body also being employed to energize saidrestoration means for restoring the body to the neutral position upondetachment of the load.

40. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for producingrelative movement between said body suspension means and the center ofgravity of the combined body and load until the cable suspension pointand said center of gravity are vertically aligned with the body and loadin a predetermined position, said actuating means being operable inresponse to swinging movement of the body relative to the cable uponinitially lifting the body and its load whereby the load is ultimatelybalanced in predetermined position, said body suspension means and saidactuating mans being constituted by at least one fluid motor having oneend pivotally connected to said body and another end adapted to beconnected to said cable to be operable to shift the cable suspensionpoint into vertical alignment with said center of gravity in response toswinging movement of the body relative to the cable upon lifting thebody and its load.

41. Apparatus defined in claim 40 wherein said body suspension means andactuating means further includes a second fluid motor associated withsaid first fluid motor, said fluid motors extending at an oblique anglerelative to the body and converging at the cable suspension point, saidsecond fluid motor being pivotally connected with respect to said bodyto pivot relative to said body during alignment of the cable suspensionpoint with the center of gravity.

42. Apparatus defined in claim 40 further including control means forsupplying and exhausting fluid motor upon swinging movement of the bodyrelative to the cable, said control mans including a control membermounted with respect to said body to move in response to movement ofsaid body relative to the cable when initially lifting a load, and valvemeans connected to said fluid motor to supply and exhaust the same withmotive fluid in res nse to actuation by said control member. 43.Apparatus efined in claim 42 further including hydraulic resistancemeans associated with said valve means to delay movement of said valvemeans and consequently initial operation of said fluid motor inultimately balancing the load in predetermined position.

44. A method of lifting and balancing a load with respect to a cranecable or the like comprising the steps of: attaching the load to a body,connecting the body with respect to the crane cable, raising the cranecable to lift the body and the load and to produce vertical displacementof the body relative to the crane cable suspension point, sensingswinging movement of the body relative to the crane cable as a result ofany eccentric loading, and actuating a motor on the body in accordancewith the sensed eccentric loading to align the suspension point of thecable with the center of gravity of the combined body and load whilebringing said body and load into a predetermined position, and employingthe said vertical displacement to charge a motive device for restoringthe body relative to the crane cable in a predetermined position uponrelease of the load.

45. The method defined in claim 44 further including the step ofvertically displacing the body relative to the crane cable suspensionpoint prior to the alignment process for storing energy for restoringthe body into a predetermined position relative to the crane cable afterthe load is released.

46. The method defined in claim 44 wherein the said verticaldisplacement of the body relative to the crane cable suspension point isalso employed to actuate said motor for aligning the suspension point ofthe cable with the center of gravity of the combined body and load.

47. The method defined in claim 44 further including the step ofproducing relative vertical displacement between said body and the cranecable suspension point for actuating said motor for producing the saidalignment.

1. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and solely mechanical actuating meansfor moving said body suspension means relative to the center of gravityof the combined body and load until the cable suspension point and saidcenter of gravity are vertically aligned with the body and load in apredetermined position, said actuating means being operable in responseto and from energy solely derived from swinging movement of the bodyrelative to the cable upon initially lifting the body and its loadwhereby the Load is ultimately balanced in predetermined position. 2.Apparatus defined in claim 1 further including means for limitingmovement of the body relative to the crane cable upon initial lifting ofthe body and load.
 3. Apparatus defined in claim 1 wherein saidactuating means includes a fluid motor and control means for supplyingor exhausting the motor with motive fluid upon swinging movement of thebody relative to the cable when the body and load are initially lifted.4. Apparatus defined in claim 3 wherein said control means includesmanually operable means mounted on said body.
 5. Apparatus defined inclaim 3 wherein said control means includes a control member mountedwith respect to said body to move in response to movement of said bodyrelative to the cable when initially lifting a load, and valve meansconnected to said fluid motor to supply or exhaust the same with motivefluid in response to actuation by said control member.
 6. Apparatusdefined in claim 5 wherein said control member is a pendulum having oneend pivotally connected with respect to said body.
 7. Apparatus definedin claim 5 further including hydraulic resistance means associated withsaid valve to delay movement of said valve and consequently initialoperation of said fluid motor in ultimately balancing the load inpredetermined position.
 8. Apparatus defined in claim 7 wherein saidhydraulic resistance means permits the body to be restored to a neutralposition in an accelerated manner upon detachment of the load. 9.Apparatus defined in claim 1 wherein said body suspension means includesa cylinder and piston movable in the cylinder to provide movement ofsaid body suspension means relative to the body.
 10. Apparatus definedin claim 9 wherein said piston and cylinder are relatively movable toshift said body suspension means to align the cable suspension point andsaid center of gravity upon initial lifting of the body and load. 11.Apparatus defined in claim 10 further including restoration means forrestoring the body into a predetermine position upon release of the loadfrom the body, said restoration means being energized by verticaldisplacement of the body suspension means relative to the body. 12.Apparatus defined in claim 1 wherein said predetermined position of saidbody and load is horizontal.
 13. Apparatus defined in claim 1 whereinsaid body suspension means is mounted for movement along the body andwherein said actuating means includes a motor for moving said bodysuspension means along the body to vertically align the cable suspensionpoint and said center of gravity.
 14. Apparatus defined in claim 13wherein said body suspension means includes a piston and cylinder one ofwhich is adapted to be connected to said cable suspension point. 15.Apparatus defined in claim 14 wherein said cylinder and piston extendgenerally vertically and in parallel to each other.
 16. Apparatusdefined in claim 1 wherein said body suspension means includes two fluidmotors connected to said body and adapted to be connected to said cable,said fluid motors being operable to shift the cable suspension pointinto vertical alignment with said center of gravity in response toswinging movement of the body relative to the cable upon initiallylifting the body and its load.
 17. Apparatus for lifting loads by meansof a crane cable or the like, apparatus comprising in combination, abody, a body suspension means connected to the body for suspending thebody from a point on a crane cable or the like, load suspension means onthe body for suspending from the body the load to be lifted, means forproviding relative movement between said body suspension means and saidbody, and solely mechanical actuating means energized solely throughmechanical energy derived from relative vertical displacement of saidbody suspension means and said body for producing relative horizontalmovement between said body suspension means and the center of gravity ofthe combined body anD load until the cable suspension point and saidcenter of gravity are vertically aligned with the body and load in apredetermined position, operation of said actuating means to ultimatelybalance the load in a predetermined position being initiated in responseto swinging movement of the body relative to the cable upon initiallifting of the body and load.
 18. Apparatus defined in claim 17 whereinsaid actuating means is operated automatically in response to swingingmovement of the body relative to the cable upon initially lifting thebody and load whereby the load is ultimately balanced in predeterminedposition automatically.
 19. Apparatus defined in claim 17 wherein saidactuating means moves said load suspension means along the body untilthe center of gravity of the combined body and load is in verticalalignment with the cable suspension point.
 20. Apparatus defined inclaim 17 wherein said body includes a counterweight movable along saidbody, and said actuating mans is operable to move the counterweightalong the body until the center of gravity of the combined body and loadincluding the counterweight is in vertical alignment with the cablesuspension point.
 21. Apparatus defined in claim 19 wherein said loadsuspension means includes a trolley movable along said body and whereinsaid actuating means is operable to move said trolley along said body.22. Apparatus defined in claim 18 wherein said actuating means includesa fluid motor and control means for supplying the motor with motivefluid upon swinging movement of the body relative to the cable when thebody and load are initially lifted, said control means including aliquid level mounted on said body to move in response to swingingmovement of the body relative to said cable during initial lifting ofthe load to control said fluid motor.
 23. Apparatus defined in claim 22wherein said control means further includes a slide valve operable inone direction in response to liquid in said liquid level, and springmeans urging said slide valve in the opposite direction for restoringliquid in said liquid level.
 24. Apparatus defined in claim 17 whereinsaid load suspension means is positioned on one side of said body andwherein the opposite side of said body contains a counterweight movablealong the opposite side of said body by said actuating means to bringthe center of gravity into vertical alignment with the cable suspensionpoint, said body suspension means being located between said oppositesides of said body.
 25. Apparatus defined in claim 24 wherein said bodysuspension mans includes a cylinder having a piston, motion transmittingmeans interconnecting said piston and said counterweight, said actuatingmeans including control means for exhausting motive fluid from saidcylinder to move the piston and ultimately said counterweight along saidbody until the center of gravity is vertically aligned with the cablesuspension point.
 26. Apparatus defined in claim 24 further includingtime delay means for delaying operation of said actuating means inresponse to swinging movement of the body relative to the cable uponinitially lifting the body.
 27. Apparatus defined in claim 26 furtherincluding restoration means for restoring the body to a neutral positionwhen the load is detached therefrom, and means for accelerating movementof the body to the neutral position upon detachment of the load. 28.Apparatus for lifting loads by means of a crane cable or the like, theapparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for producingrelative movement between said body suspension means and the center ofgravity of the combined body and load until the cable suspension pointand said center of gravity are vertically aligned with the body and loadin a predetermined position, said acTuating means being operable inresponse to swinging movement of the body relative to the cable uponinitially lifting the body and its load whereby the load is ultimatelybalanced in predetermined position, and restoration means for restoringthe body to a predetermined position after the load is removed from thebody, said restoration means being governed by vertical displacement ofsaid body suspension means relative to the body.
 29. The apparatusdefined in claim 28 wherein said restoration means includes spring meansenergized upon vertical displacement of said body suspension meansrelative to the body, and means interconnecting said spring means andsaid body suspension means.
 30. Apparatus for lifting loads by means ofa crane cable or the like, the apparatus comprising in combination, abody, body suspension means connected to the body for suspending thebody from a point on a crane cable or the like, load suspension means onthe body for suspending from the body the load to be lifted, andactuating means for moving said body suspension means relative to thecenter of gravity of the combined body and load until the cablesuspension point and said center of gravity are vertically aligned withthe body and load in a predetermined position, said actuating meansbeing operable in response to swinging movement of the body relative tothe cable upon initially lifting the body and its load whereby the loadis ultimately balanced in predetermined position, and restoration meansfor restoring the body to a predetermined position after the load isremoved from the body, said restoration means being governed verticaldisplacement of said body suspension means relative to the body. 31.Apparatus defined in claim 30 wherein said restoration means includesspring means energized upon vertical displacement of said bodysuspension means relative to the body and means interconnecting saidspring means and said body suspension means.
 32. Apparatus defined inclaim 30 wherein said restoration means includes a fluid motoroperatively connected to said body to move the body in a predeterminedposition.
 33. Apparatus defined in claim 32 wherein said actuating meansincludes a fluid motor, and a control means for controlling the supplyand exhaust of motive fluid to both of said fluid motors.
 34. Apparatusfor lifting loads by means of a crane cable or the like, the apparatuscomprising in combination, a body, body suspension means connected tothe body for suspending the body from a point on a crane cable or thelike, load suspension means on the body for suspending from the body theload to be lifted, and actuating means for producing relative movementbetween said body suspension means and the center of gravity of thecombined body and load until the cable suspension point and said centerof gravity are vertically aligned with the body and load in apredetermined position, said actuating means being operable in responseto swinging movement of the body relative to the cable upon initiallylifting the body and its load whereby the load is ultimately balanced inpredetermined position, said actuating means further including a fluidmotor and control means for supplying or exhausting the motor withmotive fluid upon swinging movement of the body relative to the cablewhen the body and load are initially lifted, said control mans includinga control member mounted with respect to said body to move in responseto movement of said body relative to the cable when initially lifting aload, and valve means connected to said fluid motor to supply or exhaustthe same with motive fluid in response to actuation by said controlmember, said control member including an elongated arm pivotallyconnected with respect to said body and extending generally in thehorizontal direction of said body.
 35. Apparatus defined in claim 17wherein said control means further includes a slide connected to saidcontrol member and said valve means, and spring means normally urgingsaid slide and control Member into a predetermined position. 36.Apparatus for lifting loads by means of a crane cable or the like, theapparatus comprising in combination, a body, body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, and actuating means for moving said bodysuspension means relative to the center of gravity of the combined bodyand load until the cable suspension point and the center of gravity arevertically aligned with the body and load in a predetermined position,said actuating means being operable in response to swinging movement ofthe body relative to the cable upon initially lifting the body and itsload whereby the load is ultimately balanced in predetermined position,said body suspension means including two fluid motors connected to saidbody and adapted to be connected to said cable, said fluid motors beingoperable to shift the cable suspension point into vertical alignmentwith said center of gravity in response to swinging movement of the bodyrelative to the cable upon initially lifting the body and its load, saidfluid motors extending at an oblique angle relative to the body andconverging at the cable suspension point, said fluid motors beingpivotally connected with respect to said body to pivot relative to saidbody while aligning the cable suspension point with the center ofgravity.
 37. Apparatus for lifting loads by means of a crane cable orthe like, the apparatus comprising in combination, a body, bodysuspension means connected to the body for suspending the body from apoint on a crane cable or the like, load suspension means on the bodyfor suspending from the body the load to be lifted, actuating means formoving said body suspension means relative to the center of gravity ofthe combined body and load until the cable suspension point is at centerof gravity or vertically aligned with the body and load in apredetermined position, said actuating means being operable in responseto swinging movement of the body relative to the cable upon initiallylifting the body and its load whereby the load is ultimately balanced inpredetermined position, and hydraulic means for operating said actuatingmeans, said hydraulic means including hydraulic resistance means fordelaying initial operation of said actuating means in ultimatelybalancing the load in predetermined position.
 38. Apparatus defined inclaim 37 wherein said resistance means includes variable restrictors.39. Apparatus for lifting loads by means of a crane cable or the like,the apparatus comprising in combination, a body, a body suspension meansconnected to the body for suspending the body from a point on a cranecable or the like, load suspension means on the body for suspending fromthe body the load to be lifted, means for providing relative movementbetween said body suspension means and said body, and actuating meansenergized by relative vertical displacement of said body suspensionmeans and said body for producing relative horizontal movement betweensaid body suspension means and the center of gravity of the combinedbody and load until the cable suspension point and said center ofgravity are vertically aligned with the body and load in a predeterminedposition, operation of said actuating means to ultimately balance theload in a predetermined position being initiated in response to swingingmovement of the body relative to the cable upon initial lifting of thebody and load, and restoration means for restoring the body to apredetermined neutral position after the load is detached from the body,said means for producing relative vertical movement between said bodysuspension means and said body also being employed to energize saidrestoration means for restoring the body to the neutral position upondetachment of the load.
 40. Apparatus for lifting loads by means of acrane cable or the like, the apparatus comprising in combinAtion, abody, body suspension means connected to the body for suspending thebody from a point on a crane cable or the like, load suspension means onthe body for suspending from the body the load to be lifted, andactuating means for producing relative movement between said bodysuspension means and the center of gravity of the combined body and loaduntil the cable suspension point and said center of gravity arevertically aligned with the body and load in a predetermined position,said actuating means being operable in response to swinging movement ofthe body relative to the cable upon initially lifting the body and itsload whereby the load is ultimately balanced in predetermined position,said body suspension means and said actuating mans being constituted byat least one fluid motor having one end pivotally connected to said bodyand another end adapted to be connected to said cable to be operable toshift the cable suspension point into vertical alignment with saidcenter of gravity in response to swinging movement of the body relativeto the cable upon lifting the body and its load.
 41. Apparatus definedin claim 40 wherein said body suspension means and actuating meansfurther includes a second fluid motor associated with said first fluidmotor, said fluid motors extending at an oblique angle relative to thebody and converging at the cable suspension point, said second fluidmotor being pivotally connected with respect to said body to pivotrelative to said body during alignment of the cable suspension pointwith the center of gravity.
 42. Apparatus defined in claim 40 furtherincluding control means for supplying and exhausting fluid motor uponswinging movement of the body relative to the cable, said control mansincluding a control member mounted with respect to said body to move inresponse to movement of said body relative to the cable when initiallylifting a load, and valve means connected to said fluid motor to supplyand exhaust the same with motive fluid in response to actuation by saidcontrol member.
 43. Apparatus defined in claim 42 further includinghydraulic resistance means associated with said valve means to delaymovement of said valve means and consequently initial operation of saidfluid motor in ultimately balancing the load in predetermined position.44. A method of lifting and balancing a load with respect to a cranecable or the like comprising the steps of: attaching the load to a body,connecting the body with respect to the crane cable, raising the cranecable to lift the body and the load and to produce vertical displacementof the body relative to the crane cable suspension point, sensingswinging movement of the body relative to the crane cable as a result ofany eccentric loading, and actuating a motor on the body in accordancewith the sensed eccentric loading to align the suspension point of thecable with the center of gravity of the combined body and load whilebringing said body and load into a predetermined position, and employingthe said vertical displacement to charge a motive device for restoringthe body relative to the crane cable in a predetermined position uponrelease of the load.
 45. The method defined in claim 44 furtherincluding the step of vertically displacing the body relative to thecrane cable suspension point prior to the alignment process for storingenergy for restoring the body into a predetermined position relative tothe crane cable after the load is released.
 46. The method defined inclaim 44 wherein the said vertical displacement of the body relative tothe crane cable suspension point is also employed to actuate said motorfor aligning the suspension point of the cable with the center ofgravity of the combined body and load.
 47. The method defined in claim44 further including the step of producing relative verticaldisplacement between said body and the crane cable suspension point foractuating said motor for producing the said alignment.